FAST POSITIONING PERFORMANCE IN BALL SCREW MECHANISM WITH DISTURBANCE OBSERVER

Jia En Foo, Shin Horng Chong, Wai Keat Hee, Ser Lee Loh, Norhaslinda Hashim

Abstract


Ball screw mechanisms are widely applied in different industries due to their capability in achieving precise positioning performance as well as its long travel range for positioning, travelling and contouring actions. However, this mechanism exhibits nonlinearities in micro movement. In this paper, a disturbance observer and PD controller (PDDO) is proposed in ball screw mechanism to achieve fast and precise positioning performance. A macrodynamic mathematical model of the mechanism is derived. PDDO controller is designed to achieve fast positioning in micro travel range. The robustness of the controller against mass is examined. The experimental results demonstrated that the PDDO controller achieves better performance in fast tracking (3 Hz) with working range at 100 μm, 1 mm and 3 mm as compared to the PID controller. Besides that, the PDDO controller also demonstrated its robustness in the presence of mass changes.


Keywords


Ball screw mechanism, disturbance observer, PD controller

Full Text:

PDF

References


Sepasi, D., Nagamune, and R., Sassani, F. 2012. Tracking Control of Flexible Ball Screw Drives with Runout Effect and Mass Variation. IEEE Transactions of Industrial Electronics. 59(2): 1248-1256.

Dong, W., Tang, W. 2013. Hybrid Modelling and Analysis of Structural Dynamic of a Ball Screw Feed Drive System. Mechanika. 19(3): 316-323.

Chen, C. L., Jang, M. J. and Lin, K. C., 2004. Modeling And High-Precision Control Of A Ball-Screw-Driven Stage. Precision Engineering. 28(4): 483-495.

Kim, M. S., Chung, S. C. 2006. Friction Identification of Ball Screw Driven Servomechanisms through the Limit Cycle Analysis. Mechatronics. 16(2): 131-140.

Xiang, H., Qiu. Z., Li, X. 2009. Simulation and Experimental Research of Non-linear Friction Compensation for High-Precision Ball Screw Drive System. The 9th International Conference on Electronic Measurement & Instruments, ICEMI 2009. Beijing. 16-19 August 2009. 604-609.

Lee, H. S., and Tomizuka, M. 1996. Robust Motion Controller Design for High-accuracy Positioning Systems. IEEE Transactions of Industrial Electronics. 43(1): 48-55.

Lin, J., and Chen, C. H., 2006. A Novel Fuzzy Friction Compensation Approach for Tracking of A Linear Motion Stage. Proceedings of The 2006 American Control Conference. Minnesota, USA. 14-16 June 2006. 3188-3193

Sugiyama, Y., Naito, M., Chen, and G., Takami, I. 2013. H∞ Loop Shaping for Positioning Control System with Nonlinear Friction. 9th Asian Control Conference (ASCC) 2013. Istabul. 23-26 June 2013. 1-6.

Okwudire, C. and Altintas, Y. 2009. Minimum Tracking Error Control of Flexible Ball Screw Drives Using a Discrete-Time Sliding Mode Controller. Journal of Dynamic Systems, Measurement and Control. 131(5): 1-12.

Chong, S. H., Ting, T. T., and Sakthivelu, V. 2014. Positioning Control of A Ball Screw Driven By DC Motor. Applied Mechanics and Materials. 761(3): 142-147.

X. C. Mendez Cubillos and L. C.G de Souza. 2009. Using of H-infinity Control Method in Attitude Control System of Rigid-Flexible Satellite. Mathematical Problems in Engineering. 2009(1): 1-9.

H. Liu, Y. J. Wu, J. Zhang. 2011. PID Sliding Mode Control Based on Disturbance Observer. Chinese Control and Decision Conference (CCDC). Mianyang, China. 23-25 May 2011. 1278-1281.

Ohishi, K., Ohnishi, K., Miyachi, K. 1983. Torque-speed Regulation of DC Motor Based on Load Torque Estimation Method. 1983 International Power Electronics Conference. Tokyo. 27-31 March 1983. 1209-1218.

Park, S., Lee, S., 2007. Disturbance Observer Based Robust Control for Industrial Robots with Flexible Joints. International Conference of Control, Automation and Systems 2007. Seoul. 9(1): 584-589.

Huang, Y. Messner, W. 1998. A Novel Disturbance Observer Design for Magnetic Hard Drive Servo System with A Rotary Actuator. IEEE Transactions on Magnetics. 34(4): 1892-1894.

Li. X., Mei, Z. 2011. Disturbance-compensation of Ball Screw Servo System. 2011 International conference on Electronics, Communications and Control, ICECC 2011. Zhejiang. 9-11 September 2011. 230-234.

Ro. P. I., Shim, W., Jeong, S. 2000. Robust Friction Compensation for Submicrometer Positioning and Tracking for a Ball-screw-driven Slide System. Precision Engineering. 24(2): 160-173.

Schrijver, E., and van Dijk, J. 2002. Disturbance Observer for Rigid Mechanical Systems: Equivalence, Stability, and Design. Journal of Dynamic Systems, Measurement and Control. 124(4): 539-548.




DOI: https://doi.org/10.11113/jt.v78.7028

Refbacks

  • There are currently no refbacks.


  

Copyright © 2012 Penerbit UTM Press, Universiti Teknologi Malaysia.
Disclaimer : This website has been updated to the best of our knowledge to be accurate. However, Universiti Teknologi Malaysia shall not be liable for any loss or damage caused by the usage of any information obtained from this web site.
Best viewed: Mozilla Firefox 4.0 & Google Chrome at 1024 × 768 resolution.